AU7559498A - A method for supervision of the movement control of a manipulator - Google Patents

A method for supervision of the movement control of a manipulator

Info

Publication number
AU7559498A
AU7559498A AU75594/98A AU7559498A AU7559498A AU 7559498 A AU7559498 A AU 7559498A AU 75594/98 A AU75594/98 A AU 75594/98A AU 7559498 A AU7559498 A AU 7559498A AU 7559498 A AU7559498 A AU 7559498A
Authority
AU
Australia
Prior art keywords
supervision
manipulator
movement control
movement
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
AU75594/98A
Other languages
English (en)
Inventor
Torgny Brogardh
Staffan Elfving
Ingvar Jonsson
Stig Moberg
Fredrik Skantze
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
Asea Brown Boveri AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Publication of AU7559498A publication Critical patent/AU7559498A/en
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39178—Compensation inertia arms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39187—Coriolis and centripetal compensation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39194—Compensation gravity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39237—Torque disturbance control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40226—Input control signals to control system and to model, compare their outputs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42307—Compare actual feedback with predicted, simulated value to detect run away

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
AU75594/98A 1997-05-15 1998-05-13 A method for supervision of the movement control of a manipulator Abandoned AU7559498A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9701796 1997-05-15
SE9701796A SE509443C2 (sv) 1997-05-15 1997-05-15 Förfarande för övervakning av en manipulators rörelsestyrning
PCT/SE1998/000877 WO1998051453A1 (en) 1997-05-15 1998-05-13 A method for supervision of the movement control of a manipulator

Publications (1)

Publication Number Publication Date
AU7559498A true AU7559498A (en) 1998-12-08

Family

ID=20406938

Family Applications (1)

Application Number Title Priority Date Filing Date
AU75594/98A Abandoned AU7559498A (en) 1997-05-15 1998-05-13 A method for supervision of the movement control of a manipulator

Country Status (7)

Country Link
US (1) US6218801B1 (de)
EP (1) EP0981424B1 (de)
JP (1) JP2001524884A (de)
AU (1) AU7559498A (de)
DE (1) DE69829559T2 (de)
SE (1) SE509443C2 (de)
WO (1) WO1998051453A1 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6940248B2 (en) * 1996-07-05 2005-09-06 Bose Corporation Motion controlling
NL1010068C2 (nl) * 1998-09-11 2000-03-15 Skf Eng & Res Centre Bv Werkwijze en inrichting voor het bekrachtigen van rotatie-translatieomzetters.
SE518392C2 (sv) * 1998-12-22 2002-10-01 Jan Sandberg Metod för rengöring av djurstallar med en automatisk rengöringsanordning samt automatisk rengöringsanordning
EP1183579B1 (de) * 1999-05-19 2004-10-06 Robert Bosch Gmbh Regelungssystem mit modellgestützter sicherheitsüberwachung eines elektronisch geregelten stellers im kraftfahrzeug
US6453331B1 (en) * 1999-07-30 2002-09-17 Seagate Technology Llc Method and system for filtering force constant table for accurate torque modeling
DE10125445A1 (de) * 2001-05-25 2002-12-05 Kuka Roboter Gmbh Verfahren zum Steuern der Bewegung eines Roboters
DE10245594A1 (de) 2002-09-30 2004-04-08 Dürr Systems GmbH Verfahren zur Kollisionserkennung
US7102315B2 (en) * 2003-07-29 2006-09-05 Matsushita Electric Industrial Co., Ltd. Robot arm control method and control device
DE10360530A1 (de) * 2003-12-22 2005-03-10 Siemens Ag Virtuelle Inbetriebnahme einer Maschine
JP4112594B2 (ja) * 2006-07-27 2008-07-02 ファナック株式会社 減速機異常診断方法及び減速機異常診断装置
DE102007024143A1 (de) * 2007-05-24 2008-11-27 Dürr Systems GmbH Bewegungssteuerung für elastische Roboterstrukturen
JP4955791B2 (ja) * 2010-04-20 2012-06-20 ファナック株式会社 ロボットシステム
DE102010044644B4 (de) 2010-09-07 2018-12-27 Robert Bosch Gmbh Verfahren zur Kollisionserkennung für eine Antriebseinheit
WO2014000766A1 (en) * 2012-06-26 2014-01-03 Abb Technology Ltd Adjusting parameters of a dynamical robot model
US9041336B2 (en) * 2012-11-19 2015-05-26 Persimmon Technologies, Corp. Robot having repeatable disturbance compensation algorithm
WO2015154172A1 (en) * 2014-04-10 2015-10-15 Quanser Consulting Inc. Robotic systems and methods of operating robotic systems
JP6017595B2 (ja) * 2015-01-16 2016-11-02 ファナック株式会社 振動を抑制するモータ制御装置
DK3277467T3 (da) 2015-03-31 2020-07-27 Abb Schweiz Ag Fremgangsmåde til at styre en industrirobot ved berøring
MX365933B (es) * 2015-05-21 2019-06-20 Nissan Motor Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas.
DE102015009892A1 (de) * 2015-07-30 2017-02-02 Kuka Roboter Gmbh Verfahren und System zum Steuern eines Roboters
EP3795309B1 (de) * 2018-05-16 2023-08-30 Panasonic Intellectual Property Management Co., Ltd. Verfahren zur erkennung von codiereranomalien, betriebssteuerungsvorrichtung, roboter und robotersystem
JP7199178B2 (ja) * 2018-08-28 2023-01-05 株式会社東芝 ロボット制御装置、ロボット装置、ロボット制御のパラメータ調整方法、およびプログラム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4305028A (en) * 1980-04-04 1981-12-08 Nordson Corporation System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions
US4547858A (en) 1983-06-13 1985-10-15 Allied Corporation Dynamic control for manipulator
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
EP0262600B1 (de) 1986-09-29 1992-11-25 Asea Ab Verfahren und Vorrichtung zur optimalen Parameterregelung von Reglern, die rotierende und/oder lineare Bewegungen eines Industrieroboters steuern
US4925312A (en) 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US4912753A (en) * 1988-04-04 1990-03-27 Hughes Aircraft Company Robot axis controller employing feedback and open loop (feedforward) control
US5049796A (en) 1989-05-17 1991-09-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Robust high-performance control for robotic manipulators
JPH0683403A (ja) 1992-07-17 1994-03-25 Fanuc Ltd 適応ｐｉ制御方式
DE19508474A1 (de) * 1995-03-09 1996-09-19 Siemens Ag Intelligentes Rechner-Leitsystem
JPH10133703A (ja) * 1996-10-31 1998-05-22 Fujitsu Ltd 適応的ロバスト制御装置

Also Published As

Publication number Publication date
JP2001524884A (ja) 2001-12-04
EP0981424B1 (de) 2005-03-30
DE69829559D1 (de) 2005-05-04
DE69829559T2 (de) 2005-08-18
SE9701796L (sv) 1998-11-16
WO1998051453A1 (en) 1998-11-19
SE9701796D0 (sv) 1997-05-15
SE509443C2 (sv) 1999-01-25
EP0981424A1 (de) 2000-03-01
US6218801B1 (en) 2001-04-17

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Legal Events

Date Code Title Description
MK6 Application lapsed section 142(2)(f)/reg. 8.3(3) - pct applic. not entering national phase